CN114505867A - Air bag type soft robot capable of passing through special-shaped reducing inner cavity - Google Patents
Air bag type soft robot capable of passing through special-shaped reducing inner cavity Download PDFInfo
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- CN114505867A CN114505867A CN202210106252.7A CN202210106252A CN114505867A CN 114505867 A CN114505867 A CN 114505867A CN 202210106252 A CN202210106252 A CN 202210106252A CN 114505867 A CN114505867 A CN 114505867A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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Abstract
The invention relates to an air bag type soft robot capable of passing through a special-shaped reducing inner cavity, which solves the technical problems of how to develop a soft robot with stronger flexibility, higher freedom degree of movement and stronger environmental adaptability, and comprises a front circular base, a rear circular base, a front circular air bag, a rear circular air bag, a spring, a first driving wire, a second driving wire, a third driving wire, a first rear motor, a second rear motor, a first front motor, a first rear winding wheel, a second rear winding wheel, a first front winding wheel, a rear guide cylinder and a front guide cylinder, wherein the front circular air bag and the rear circular air bag are respectively connected with the front circular base and the rear circular base; the spring coupling is between circular base and preceding circular base in back, and first back motor and the medial surface fixed connection of back circular base, the lateral surface fixed connection of motor and back circular base behind the second, the medial surface fixed connection of first preceding motor and preceding circular base. The invention is widely used for detecting and maintaining pipelines, valves and tank-shaped containers.
Description
Technical Field
The invention relates to a soft robot, in particular to an air bag type soft robot capable of passing through a special-shaped reducing inner cavity.
Background
The robot has extensive application in pipeline, valve, jar type container are surveyed and the maintenance field, and the robot is the rigid robot mostly at present, because its relatively huge mechanical body, lower degree of freedom has restricted it to get into to survey in complicated space such as valve or jar type container. The soft robot has stronger environment adaptability and can realize the detection of complex space by depending on the characteristics of continuity, high flexibility and high degree of freedom. Therefore, a technical problem to be solved by those skilled in the art is how to develop a soft robot with higher flexibility, higher freedom of movement, and stronger environmental adaptability.
Disclosure of Invention
The invention provides an air bag type soft robot capable of passing through a special-shaped reducing inner cavity, aiming at solving the technical problem of how to develop a soft robot with stronger flexibility, higher freedom of movement and stronger environmental adaptability.
The invention provides an air bag type soft robot capable of passing through a special-shaped reducing inner cavity, which comprises a front circular base, a rear circular base, a front circular air bag, a rear circular air bag, a spring, a first driving wire, a second driving wire, a third driving wire, a first rear motor, a second rear motor, a first front motor, a first rear reel, a second rear reel, a first front reel, a rear guide cylinder and a front guide cylinder, wherein the front circular base is provided with an arc-shaped air bag connecting part and a front guide cylinder mounting groove, the front circular air bag is connected with the arc-shaped air bag connecting part, and the rear circular air bag is connected with the rear circular base; the front circular air bag is provided with an air nozzle, and the rear circular air bag is provided with an air nozzle; the rear end of the spring is fixedly connected with the inner side surface of the rear circular base, the front end of the spring is fixedly connected with the inner side surface of the front circular base, the first rear motor is fixedly connected with the inner side surface of the rear circular base, the second rear motor is fixedly connected with the outer side surface of the rear circular base, and the first front motor is fixedly connected with the inner side surface of the front circular base; the first rear reel is connected with an output shaft of the first rear motor, the second rear reel is connected with an output shaft of the second rear motor, and the first front reel is connected with an output shaft of the first front motor; the outer edge of the rear circular base is provided with a rear guide cylinder mounting groove and a notch, the rear guide cylinder is fixedly connected with the rear guide cylinder mounting groove, and the front guide cylinder is fixedly connected with the front guide cylinder mounting groove;
the first driving wire, the second driving wire and the third driving wire penetrate through the spring, and are uniformly distributed along the circumference of the spring in the radial direction of the spring; the rear end of the first driving wire firstly bypasses the rear guide cylinder and then is connected with the first rear reel, and the front end of the first driving wire is fixedly connected with the front end of the spring; the rear end of the second driving wire penetrates through the notch of the rear circular base and is connected with the second rear reel, and the front end of the second driving wire is fixedly connected with the front end of the spring; the front end of the third driving wire firstly bypasses the front guide cylinder and then is connected with the first front reel, and the rear end of the third driving wire is fixedly connected with the rear end of the spring.
Preferably, the rear circular base is provided with a via.
Preferably, the soft crawling robot for detection further comprises a rear cover, the rear cover is fixedly connected with the rear circular base, and the rear cover covers the second rear motor and the second rear reel; the rear cover is provided with a window.
Preferably, the edge of the front annular air bag is provided with a first taper angle and a second taper angle, and the edge of the rear annular air bag is provided with a first taper angle and a second taper angle.
Preferably, a plurality of groups of reinforcing rib arrays are connected in the air cavity of the front circular air bag along the axial direction, and each group of reinforcing rib arrays consists of a plurality of reinforcing ribs; and a plurality of groups of reinforcing rib arrays are connected in the air cavity of the rear circular air bag along the axial direction, and each group of reinforcing rib array consists of a plurality of reinforcing ribs.
The invention has the beneficial effects that: the flexible trunk of the robot is ingenious in structure, high in flexibility, strong in flexibility, high in freedom degree of movement and strong in environmental adaptability, and the flexible trunk of the line drive spring type can realize large-range bending and stretching of the robot in space, so that a detection task of a complex environment is completed. The invention is widely used for detecting and maintaining pipelines, valves and tank-shaped containers.
Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.
Drawings
FIG. 1 is an isometric view of a balloon type soft robot capable of traversing a shaped reducing lumen;
FIG. 2 is a front view of the balloon type soft robot capable of passing through the special-shaped reducing inner cavity shown in FIG. 1;
FIG. 3 is a left side view of the balloon type soft robot capable of passing through the irregularly-shaped reducing inner cavity shown in FIG. 1;
FIG. 4 is a right side view of the balloon type soft robot capable of passing through the irregularly-shaped reducing inner cavity shown in FIG. 1;
FIG. 5 is an isometric view of an air bag type soft robot capable of passing through a special-shaped reducing inner cavity from another view angle;
FIG. 6 is an exploded view of a balloon type soft robot capable of passing through a special-shaped reducing inner cavity;
FIG. 7 is an exploded view of a balloon type soft robot capable of passing through a special-shaped reducing inner cavity;
FIG. 8 is a schematic structural diagram of the air bag type soft robot capable of passing through the irregular reducing inner cavity shown in FIG. 1, wherein a rear cover, a front circular air bag, a rear circular air bag and two hoses are removed;
FIG. 9 is a front view of the structure shown in FIG. 8;
FIG. 10 is a right side view of the structure shown in FIG. 8;
FIG. 11 is a left side view of the structure shown in FIG. 8;
FIG. 12 is a schematic structural view of a front torus-shaped airbag, wherein FIG. (a) is an isometric view of the front torus-shaped airbag and FIG. (b) is a side view of the front torus-shaped airbag;
FIG. 13 is a sectional view taken in the direction A-A of FIG. 12;
FIG. 14 is a side elevational view of the front torus shaped bladder of FIG. 12 after inflation;
FIG. 15 is a sectional view taken in the direction B-B in FIG. 14;
FIG. 16 is a schematic view of the valve construction;
FIG. 17 is a schematic structural diagram of a gas-bag type soft robot capable of passing through a special-shaped reducing inner cavity to enter a valve;
FIG. 18 is an enlarged view of a portion of FIG. 17 at P;
FIG. 19 is a schematic view of a robot entering a first section of pipe of a valve;
FIG. 20 is a schematic view of the robot turning the valve down from the first length of pipe;
FIG. 21 is a schematic view of the robot turning a valve from a first section of pipe down into a second section of pipe;
FIG. 22 is a schematic view of a robot entering a second section of pipe of a valve;
FIG. 23 is a schematic view of a robot in a second section of pipe with a valve;
FIG. 24 is a schematic view of the robot moving in a plane;
FIG. 25 is a schematic structural diagram of the robot shown in FIG. 1, in which the front circular air bag and the rear circular air bag are not provided with cone angle structures;
FIG. 26 is a top view of the structure shown in FIG. 25;
FIG. 27 is a side view of a front torus shaped bladder with a plurality of ribs;
FIG. 28 is a top view of the structure shown in FIG. 27;
FIG. 29 is a sectional view taken in the direction E-E of FIG. 27;
FIG. 30 is a sectional view in the direction F-F of FIG. 28;
fig. 31 is a partial enlarged view at S in fig. 30;
FIG. 32 is an isometric view of the inflated front annular bladder of FIG. 30 with a plurality of reinforcing ribs;
FIG. 33 is a side view of the front torus shaped bladder of FIG. 32;
FIG. 34 is a sectional view taken in the direction H-H in FIG. 33;
FIG. 35 is a cross-sectional view taken along line K-K of FIG. 33;
FIG. 36 is a top view of the structure shown in FIG. 33;
FIG. 37 is a cross-sectional view taken in the direction M-M of FIG. 36;
fig. 38 is a partial cross-sectional view of the structure shown in fig. 32.
The symbols in the drawings illustrate that:
1. a front circular base, 1-1 an arc-shaped air bag connecting part, 1-2 a front guide cylinder mounting groove, 2 a rear circular base, 2-1 a rear guide cylinder mounting groove, 2-2 notches, 2-3 screw holes, 2-4 via holes, 3 a front circular air bag, 3-1 a first taper angle, 3-2 a second taper angle, 3-3 reinforcing ribs, 3-4 a wrapping layer, 4 a rear circular air bag, 5 a rear cover, 5-1 connecting holes, 5-2 windows, 6 a spring, 7 a first driving wire, 8 a second driving wire, 9 a third driving wire, 10 a first rear motor, 11 a second rear motor, 12 a first front motor, 13 a first rear reel, 14 a second rear reel, 15 a first front reel, 16 a rear guide cylinder, 17. front guide cylinder 18, motor installation seat 19, motor installation seat 20, motor installation seat 21, rear hook 22, front hook 23, first hose 24, second hose 25, front circular air bag 26 and rear circular air bag.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1-10, the air bag type soft robot capable of passing through the special-shaped reducing inner cavity comprises a front circular base 1, a rear circular base 2, a front circular air bag 3, a rear circular air bag 4, a rear cover 5, a spring 6, a first driving wire 7, a second driving wire 8, a third driving wire 9, a first rear motor 10 and a second rear motor 11, the device comprises a first front motor 12, a first rear reel 13, a second rear reel 14, a first front reel 15, a rear guide cylinder 16, a front guide cylinder 17, a motor mounting seat 18, a motor mounting seat 19 and a motor mounting seat 20, wherein the front circular base 1 is provided with an arc-shaped air bag connecting part 1-1 and a front guide cylinder mounting groove 1-2, the front circular air bag 3 is connected with the arc-shaped air bag connecting part 1-1 to realize the installation of the front circular air bag 3, and the rear circular air bag 4 is connected with the rear circular base 2; the front circular air bag 3 is provided with an air tap, and the rear circular air bag 4 is provided with an air tap. The rear end of the spring 6 is fixedly connected with the inner side surface of the rear circular base 2 (refer to fig. 7 and 9, specifically, the inner side surfaces of the three rear hooks 21 are fixedly connected, the last circle of the rear end of the spring 6 is clamped and positioned by the three rear hooks 21), and the front end of the spring 6 is fixedly connected with the inner side surface of the front circular base 1 (specifically, refer to fig. 6 and 7, the three front hooks 22 are fixedly connected with the inner side of the front circular base 1, and the last circle of the front end of the spring 6 is clamped and positioned by the three front hooks 22). The first rear motor 10 is fixedly installed on the inner side surface of the rear circular base 2 through the motor installation seat 19, the second rear motor 11 is fixedly installed on the outer side surface of the rear circular base 2 through the motor installation seat 18, and the first front motor 12 is fixedly installed on the inner side surface of the front circular base 1 through the motor installation seat 20. The first rear reel 13 is connected with an output shaft of the first rear motor 10, the second rear reel 14 is connected with an output shaft of the second rear motor 11, the first front reel 15 is connected with an output shaft of the first front motor 12, a rear guide cylinder mounting groove 2-1 and a gap 2-2 are formed in the outer edge of the rear circular base 2, a rear guide cylinder 16 is fixedly mounted on the rear guide cylinder mounting groove 2-1, and a front guide cylinder 17 is fixedly mounted on the front guide cylinder mounting groove 1-2.
As shown in fig. 1 to 3, three groups of wire guide holes are formed in the spring 6 along the length direction, and the first driving wire 7, the second driving wire 8, and the third driving wire 9 respectively pass through the three groups of wire guide holes, so that the first driving wire 7, the second driving wire 8, and the third driving wire 9 penetrate through the spring 6. In the radial direction of the spring 6, the first drive wire 7, the second drive wire 8 and the third drive wire 9 are evenly distributed along the circumference of the spring 6. Referring to fig. 6, 7 and 1, the rear end of the first driving wire 7 is first passed around the rear guide cylinder 16 and then connected to the first rear reel 13, and the front end of the first driving wire 7 is fixedly connected to the front end of the spring 6. Referring to fig. 1, 7 and 11, the rear end of the second driving wire 8 passes through the notch 2-2 of the rear circular base 2 and then is connected to the second rear reel 14, and the front end of the second driving wire 8 is fixedly connected to the front end of the spring 6. Referring to fig. 5, 6, 7 and 8, the front end of the third driving wire 9 is connected to the first front reel 15 after passing around the front guide cylinder 17, and the rear end of the third driving wire 9 is fixedly connected to the rear end of the spring 6. Since the first front reel 15 is located closer to the front end of the spring 6, the front guide cylinder 17 is provided, which ensures that the last part of the spring, indicated by "C", which cannot be contracted if the front guide cylinder 17 is not present but the front end of the third driving wire 9 is directly connected to the first front reel 15; the first rear reel 13 is located closer to the rear end of the spring 6, and the function of the rear guide cylinder 16 is the same as that of the front guide cylinder 17. The second rear reel 14 is located farther from the rear end of the spring without providing a guide cylinder.
Referring to fig. 4 and 6, the rear cover 5 is provided with three coupling holes 5-1. Referring to fig. 8 and 11, the rear circular base 2 is provided with three screw holes 2-3, so that the rear cover 5 is fastened on the outer side surface of the rear circular base 2, and the rear cover 5 is fixedly mounted on the rear circular base 2 by connecting the connecting holes 5-1 with the screw holes 2-3 with screws. The rear cover 5 covers the second rear motor 11 and the second rear reel 14, and can protect them.
Referring to fig. 4 and 8, the rear cover 5 is provided with a window 5-2 for passing the hose. Referring to fig. 6 and 8, the rear circular base 2 is provided with vias 2-4. As shown in fig. 1-7, the first hose 23 passes through the window 5-2 of the rear cover 5 and the through hole 2-4 of the rear circular base 2 in sequence, and then is connected with the air tap on the front circular airbag 3 through the middle space of the spring 6, and the second hose 24 is connected with the air tap on the rear circular airbag 4.
As shown in FIGS. 12 and 13, the edge of the front annular airbag 3 is provided with a first taper angle 3-1 and a second taper angle 3-2. The structure of the rear circular air bag 4 is the same as that of the front circular air bag 3, and two taper angles are also arranged. When the front torus shaped airbag 3 shown in fig. 12 and 13 is inflated, the inflated state of the front torus shaped airbag 3 is as shown in fig. 14 and 15.
The material of the annular air bag is preferably silica gel, the friction coefficient between the annular air bag and metal is large, stable support can be provided, and the silica gel is excellent in ductility and convenient to prepare.
When the first rear motor 10, the second rear motor 11 and the first front motor 12 work simultaneously to drive the first rear reel 13, the second rear reel 14 and the first front reel 15 to rotate simultaneously to take up the wire, the first driving wire 7, the second driving wire 8 and the third driving wire 9 are pulled simultaneously, the spring 6 is compressed, and the whole robot contracts. When the robot is contracted, the first rear motor 10, the second rear motor 11, and the first front motor 12 are simultaneously operated to rotate the first rear reel 13, the second rear reel 14, and the first front reel 15 simultaneously to perform a line-feeding operation, and the springs 6 are extended to extend the robot. When one of the first driving wire 7, the second driving wire 8 and the third driving wire 9 is pulled and taken up, the robot can turn and bend to one side.
The supporting part of the whole robot mainly utilizes the friction force between the air bag and the inner wall of the pipeline to complete the positioning task of the robot. In the process of detecting the pipeline and the valve, the front annular air bag 3 and the rear annular air bag 4 are respectively inflated by an external air pump through the first hose 23 and the second hose 24, the air bags are in contact with the inner walls of the pipeline and the valve to generate pressure after being expanded, and the head or the tail of the robot is fixed relative to the inner walls through the generated friction force, so that the pose of the robot can be conveniently adjusted. The size of the air bag can be adjusted through the air pump, so that the robot can be fixed on pipelines with different diameters, and the fixation of the pipeline with the variable diameter of the valve is realized. Therefore, the following describes the robot crawling process according to different scenarios:
in the first scenario, the valve shown in fig. 16 is taken as an example, and the crawling and positioning processes are as follows:
(1) inflating the front circular airbag 3, expanding the front circular airbag 3, and fixing the head of the robot (namely, a part of the expanded front circular airbag 3 is attached to the inner wall of the pipeline or the whole circle of the expanded front circular airbag 3 is attached to the inner wall of the pipeline) as shown in fig. 17 and 18, wherein the rear circular airbag 4 is in a contracted state;
(2) the first rear motor 10, the second rear motor 11 and the first front motor 12 act simultaneously to take up wires, the spring 6 is compressed, as shown in fig. 19, the rear circular air bag 4 moves forwards, and the whole robot is shortened;
(3) as shown in fig. 20, the rear circular airbag 4 is inflated to fix the tail of the robot (i.e. a part of the expanded rear circular airbag 4 is attached to the inner wall of the pipeline or the whole circle of the expanded rear circular airbag 4 is attached to the inner wall of the pipeline), the front circular airbag 3 is deflated to shrink the front circular airbag 3, the first rear motor 10, the second rear motor 11 and the first front motor 12 act to perform a paying-off operation, the spring 6 is extended, the front circular airbag 3 moves forward, and the whole robot is extended;
(4) as shown in fig. 21, after the robot turns around in the valve, the front circular airbag 3 is inflated to expand, the front circular airbag 3 is positioned, the first rear motor 10, the second rear motor 11 and the first front motor 12 act simultaneously to take up the wire, and the rear circular airbag 4 moves forward.
As shown in fig. 22 and 23, when the robot continues to move forward to another section of the pipeline of the valve, the front circular air bag 3 is inflated to expand, and the front circular air bag 3 completes positioning.
The pipeline in the valve is usually in a special-shaped drift diameter, the inner diameters of the pipelines are not consistent, and the robot can be completely suitable for the special-shaped drift diameter.
The second scenario, as shown in fig. 24, works on a plane, and the positioning and crawling process is as follows:
(1) as shown in fig. 24 (a), in an initial state, the spring 6 is in a compressed state, the front circular airbag 3 is inflated, the front circular airbag 3 expands, the friction force between the front circular airbag 3 and the plane is reduced, the friction force between the taper angle of the rear circular airbag 4 and the plane is larger, and the rear circular airbag 4 is positioned and fixed on the plane;
(2) as shown in (b), the first rear motor 10, the second rear motor 11 and the first front motor 12 act simultaneously to perform a wire releasing operation, the spring 6 extends, the rear circular airbag 4 slightly shifts backwards, the taper angle of the rear circular airbag 4 in (b) is slightly deformed, the friction force is increased, the front circular airbag 3 moves forwards, and the robot becomes long as a whole;
(3) as shown in the figure (c), the front circular air bag 3 is deflated to shrink (the friction force between the taper angle of the front circular air bag 3 and the plane is increased), and the rear circular air bag 4 is inflated to expand (the friction force is reduced without the taper angle action);
(4) as shown in the figure (d), the first rear motor 10, the second rear motor 11 and the first front motor 12 act to take up wires, the spring 6 is compressed, the taper angle of the rear circular air bag 4 in the figure (d) is slightly deformed, the friction force is increased, the rear circular air bag 4 moves forwards, and the whole robot is shortened;
(5) as shown in figure (e), the front torus shaped bladder 3 is inflated to expand it, and the rear torus shaped bladder 4 is deflated to contract it, starting the next cycle.
And the third scene works on the arc-shaped inner wall of the tank-shaped container, and the working mode is the same as that of the second scene.
The first rear motor 10 and the second rear motor 11 are respectively positioned on the front and the rear surfaces of the rear circular base 2, and the first front motor 12 is positioned on the front circular base, so that the overall diameter of the robot is smaller, and the robot is beneficial to miniaturization design.
The invention has the advantages of ingenious structure and high flexibility, and the soft trunk with the spring type wire drive can realize the large-range bending and stretching of the robot space and complete the detection task of complex environment.
It should be noted that the front circular air bag 3 and the rear circular air bag 4 may not be provided with cone angle structures, and may also crawl in pipelines and valves. As shown in fig. 25 and 26, the front and rear circular airbags 3 and 4 are replaced with front and rear circular airbags 25 and 26 having no taper angle structure.
In order to make the front circular air bag 3 and the rear circular air bag 4 adapt to pipelines with larger inner diameter sizes, the front circular air bag 3 and the rear circular air bag 4 are optimized and improved. The air cavity of the front circular air bag 3 is provided with a plurality of reinforcing ribs 3-3, the structure of the front circular air bag provided with the plurality of reinforcing ribs is shown in figures 27-30, and the air bag is in a contraction state. When the air cavity of the front circular air bag is inflated, the expanded state is shown in figures 32-38, three groups of reinforcing rib arrays are shown in the figures, each group of reinforcing rib array is composed of a plurality of reinforcing ribs 3-3, each reinforcing rib 3-3 is connected in the air cavity along the axial direction, one end of each reinforcing rib 3-3 is connected with the left inner wall of the air cavity, and the other end of each reinforcing rib 3-3 is connected with the right inner wall of the air cavity (when the air bag is prepared by using a silica gel material through a pouring process, the reinforcing ribs 3-3 are wrapped by silica gel to form wrapping layers 3-4, and the wrapping layers 3-4 are integrally formed with the air bag body). The material of the reinforcing ribs 3-3 can be plastic.
The structure of the rear circular airbag 4 provided with the reinforcing ribs is the same as that of the front circular airbag provided with the reinforcing ribs, and the description is omitted.
It will be understood by those skilled in the art that the foregoing description is only for the purpose of illustrating preferred embodiments of the present invention, and it is not intended to limit the present invention to the exact construction and embodiments shown and described, and other arrangements, and modifications of the parts, drive devices and fastening devices can be made without departing from the spirit and scope of the present invention.
Claims (7)
1. An air bag type soft robot capable of penetrating through a special-shaped reducing inner cavity is characterized by comprising a front circular base, a rear circular base, a front circular air bag, a rear circular air bag, a spring, a first driving wire, a second driving wire, a third driving wire, a first rear motor, a second rear motor, a first front motor, a first rear reel, a second rear reel, a first front reel, a rear guide cylinder and a front guide cylinder, wherein the front circular base is provided with an arc-shaped air bag connecting part and a front guide cylinder mounting groove, the front circular air bag is connected with the arc-shaped air bag connecting part, and the rear circular air bag is connected with the rear circular base; the front circular air bag is provided with an air tap, and the rear circular air bag is provided with an air tap; the rear end of the spring is fixedly connected with the inner side surface of the rear circular base, the front end of the spring is fixedly connected with the inner side surface of the front circular base, the first rear motor is fixedly connected with the inner side surface of the rear circular base, the second rear motor is fixedly connected with the outer side surface of the rear circular base, and the first front motor is fixedly connected with the inner side surface of the front circular base; the first rear reel is connected with an output shaft of a first rear motor, the second rear reel is connected with an output shaft of a second rear motor, and the first front reel is connected with an output shaft of a first front motor; the outer edge of the rear circular base is provided with a rear guide cylinder mounting groove and a gap, the rear guide cylinder is fixedly connected with the rear guide cylinder mounting groove, and the front guide cylinder is fixedly connected with the front guide cylinder mounting groove;
the first driving wire, the second driving wire and the third driving wire penetrate through the spring, and are uniformly distributed along the circumference of the spring in the radial direction of the spring; the rear end of the first driving wire firstly bypasses the rear guide cylinder and then is connected with the first rear reel, and the front end of the first driving wire is fixedly connected with the front end of the spring; the rear end of the second driving wire penetrates through the notch of the rear circular base and then is connected with the second rear reel, and the front end of the second driving wire is fixedly connected with the front end of the spring; the front end of the third driving wire bypasses the front guide cylinder and is then connected with the first front reel, and the rear end of the third driving wire is fixedly connected with the rear end of the spring.
2. The balloon type soft robot capable of passing through the special-shaped reducing inner cavity according to claim 1, wherein the rear circular base is provided with a through hole.
3. The airbag type soft robot capable of passing through the special-shaped reducing inner cavity according to claim 2, further comprising a rear cover, wherein the rear cover is fixedly connected with the rear circular base and covers the second rear motor and the second rear reel; the rear cover is provided with a window.
4. The airbag type soft robot capable of passing through the special-shaped reducing inner cavity according to claim 3, further comprising a first hose and a second hose, wherein the first hose sequentially passes through a window of the rear cover and a via hole of the rear circular base and then is connected with an air tap on the front circular air bag through the middle space of the spring, and the second hose is connected with an air tap on the rear circular air bag.
5. The air bag type soft robot capable of passing through the special-shaped reducing inner cavity according to claim 1, wherein a first taper angle and a second taper angle are arranged on the edge of the front circular air bag, and a first taper angle and a second taper angle are arranged on the edge of the rear circular air bag.
6. The air bag type soft robot capable of passing through the special-shaped reducing inner cavity according to claim 1, wherein the front circular air bag is made of silica gel, and the rear circular air bag is made of silica gel.
7. The air bag type soft robot capable of passing through the special-shaped reducing inner cavity according to claim 1 or 5, wherein a plurality of groups of reinforcing rib arrays are connected in an air cavity of the front circular air bag along the axial direction, each group of reinforcing rib arrays consists of a plurality of reinforcing ribs, a wrapping layer is connected to the periphery of each reinforcing rib, and the wrapping layer and the air bag body are integrally formed;
the air cavity of the rear circular air bag is connected with a plurality of groups of reinforcing rib arrays along the axial direction, each group of reinforcing rib array is composed of a plurality of reinforcing ribs, and the periphery of the reinforcing ribs in the rear circular air bag is connected with a wrapping layer which is integrally formed with the air bag body.
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| CN202210106252.7A CN114505867B (en) | 2022-01-28 | 2022-01-28 | Air bag type soft robot capable of penetrating through inner cavity with different diameters |
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| CN202210106252.7A CN114505867B (en) | 2022-01-28 | 2022-01-28 | Air bag type soft robot capable of penetrating through inner cavity with different diameters |
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| CN114505867A true CN114505867A (en) | 2022-05-17 |
| CN114505867B CN114505867B (en) | 2023-04-25 |
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